[feat] add example

CGraph-run-tutorials.sh

@@ -1,11 +1,14 @@
 #!/bin/bash
 
-if [ ! -d "build" ]; then
-    echo -e "\033[31m[ERROR] Directory /build does not exist.\033[0m"
+CGRAPH_TUTORIAL_DIR="build/tutorial/"
+
+if [ ! -d $CGRAPH_TUTORIAL_DIR ]; then
+    echo -e "\033[31m[ERROR] Directory $CGRAPH_TUTORIAL_DIR does not exist.\033[0m"
     exit 1
 fi
 
-cd build
+# shellcheck disable=SC2164
+cd $CGRAPH_TUTORIAL_DIR
 
 for file in *; do
     # 执行所有可执行文件，并且过滤掉文件夹

CMakeLists.txt

@@ -18,50 +18,8 @@ set(CMAKE_CXX_STANDARD 11)
 # 如果开启此宏定义，则CGraph执行过程中，不会在控制台打印任何信息
 # add_definitions(-D_CGRAPH_SILENCE_)
 
-# 对应tutorial中的内容
-set(CGRAPH_TUTORIAL_LIST
-        T00-HelloCGraph
-        T01-Simple
-        T02-Cluster
-        T03-Region
-        T04-Complex
-        T05-Param
-        T06-Condition
-        T07-MultiPipeline
-        T08-Template
-        T09-Aspect
-        T10-AspectParam
-        T11-Singleton
-        T12-Function
-        T13-Daemon
-        T14-Hold
-        T15-ElementParam
-        T16-MessageSendRecv
-        T17-MessagePubSub
-        T18-Event
-        T19-Cancel
-        T20-YieldResume
-        T21-MultiCondition
-        T22-Timeout
-        T23-Some
-        T24-Fence
-        T25-Coordinator
-
-        # 以下为工具类tutorial
-        TU01-ThreadPool
-        # TU02-Lru
-        # TU03-Trie
-        # TU04-Timer
-        # TU05-Distance
-        )
-
 # add CGraph environment info
 include(cmake/CGraph-env-include.cmake)
 
-foreach(tut ${CGRAPH_TUTORIAL_LIST})
-            add_executable(${tut}
-            # 在自己的工程中引入CGraph功能，仅需引入 CGraph-env-include.cmake 后，加入这一句话即可
-            $<TARGET_OBJECTS:CGraph>
-            tutorial/${tut}.cpp
-            )
-endforeach()
+add_subdirectory(./tutorial)
+add_subdirectory(./example)

README.md

@@ -69,7 +69,7 @@
   ```shell
   $ sudo apt-get install cmake -y          # 安装cmake
   $ ./CGraph-build.sh                      # 编译CGraph工程，生成的内容在同级/build/文件夹中
-  $ ./build/T00-HelloCGraph                # 运行第一个实例程序，并且在终端输出 Hello, CGraph.
+  $ ./build/tutorial/T00-HelloCGraph       # 运行第一个实例程序，并且在终端输出 Hello, CGraph.
   ```
 
 ## 三. 使用Demo
@@ -323,6 +323,7 @@ int main() {
 [2023.09.06 - v2.5.1 - Chunel]
 * 提供`fence`(栅栏)功能
 * 提供`coordinator`(协调)功能
+* 添加`example`相关内容，针对不同行业，提供一些简单的实现用例
 
 </details>
 

README_en.md

@@ -60,7 +60,7 @@ You can transfer your params in many scenes. It is also possible to extend the f
   ```shell
   $ sudo apt-get install cmake -y
   $ ./CGraph-build.sh
-  $ ./build/T00-HelloCGraph
+  $ ./build/tutorial/T00-HelloCGraph
   ```
 
 ## 3. Demo

example/CMakeLists.txt

@@ -0,0 +1,11 @@
+# 对应 example 中的内容
+set(CGRAPH_EXAMPLE_LIST
+        E01-AutoPilot
+        )
+
+foreach(example ${CGRAPH_EXAMPLE_LIST})
+    add_executable(${example}
+            $<TARGET_OBJECTS:CGraph>
+            ${example}.cpp
+            )
+endforeach()

example/E01-AutoPilot.cpp

@@ -0,0 +1,155 @@
+/***************************
+@Author: Chunel
+@Contact: [email protected]
+@File: E01-AutoPilot.cpp
+@Time: 2023/9/15 20:03
+@Desc: 本example主要展示，Camera 每隔1000ms，采集一张图片
+       LaneDetector 和 CarDetector同时消费这张图片，计算对应的内容
+       并且最终在Show中展示对应的结果信息
+***************************/
+
+#include <iostream>
+#include <algorithm>
+
+#include "CGraph.h"
+
+using namespace CGraph;
+
+static const int DEFAULT_IMAGE_SIZE = 64;
+static const int DEFAULT_MESSAGE_BUF_SIZE = 16;
+static const char* EXAMPLE_IMAGE_TOPIC = "/example/image/topic";
+static const char* EXAMPLE_PARAM_KEY = "example-param-key";
+
+
+struct ImageMParam : public GMessageParam {
+    int frame_id_ = 0;
+    char image_buf_[DEFAULT_IMAGE_SIZE] = {0};
+
+    ImageMParam& operator=(const ImageMParam& param) {
+        if (this == &param) {
+            return *this;
+        }
+
+        this->frame_id_ = param.frame_id_;
+        memset(image_buf_, 0, DEFAULT_IMAGE_SIZE);
+        memcpy(image_buf_, param.image_buf_, DEFAULT_IMAGE_SIZE);
+        return *this;
+    }
+};
+
+
+class CameraGDaemon : public GDaemon {
+public:
+    CVoid daemonTask(GDaemonParamPtr param) override {
+        ImageMParam image;
+        image.frame_id_ = cur_index_;
+        std::string info = "this is " + std::to_string(cur_index_) + " image";
+        memcpy(image.image_buf_, info.c_str(), info.length());
+        cur_index_++;
+
+        CGRAPH_PUB_MPARAM(ImageMParam, EXAMPLE_IMAGE_TOPIC, image);
+    }
+
+private:
+    int cur_index_ = 0;
+};
+
+
+struct DetectResultGParam : public GParam {
+    int lane_num_ = 0;
+    int car_num_ = 0;
+    int frame_id_ = 0;
+
+    CStatus setup() override {
+        lane_num_ = 0;
+        car_num_ = 0;
+        frame_id_ = 0;
+        return CStatus();
+    }
+};
+
+
+class LaneDetectorGNode : public GNode {
+public:
+    CStatus init() override {
+        // 订阅 EXAMPLE_IMAGE_TOPIC 消息。每次 bind的返回值，是不一样的，用于区分
+        conn_id_ = CGRAPH_BIND_MESSAGE_TOPIC(ImageMParam, EXAMPLE_IMAGE_TOPIC, DEFAULT_MESSAGE_BUF_SIZE)
+        return CStatus();
+    }
+
+    CStatus run() override {
+        ImageMParam image;
+        auto status = CGRAPH_SUB_MPARAM(ImageMParam, conn_id_, image);
+        if (status.isErr()) {
+            return status;
+        }
+
+        auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY)
+        // detector lane in image.image_buf_ ...
+        CGRAPH_ECHO("detecting lane in frame [%d], info is [%s]", image.frame_id_, image.image_buf_);
+        param->frame_id_ = image.frame_id_;
+        param->lane_num_ = std::abs((int)std::random_device{}()) % 10;
+        return CStatus();
+    }
+
+private:
+    int conn_id_ = 0;
+};
+
+
+class CarDetectorGNode : public GNode {
+public:
+    CStatus init() override {
+        conn_id_ = CGRAPH_BIND_MESSAGE_TOPIC(ImageMParam, EXAMPLE_IMAGE_TOPIC, DEFAULT_MESSAGE_BUF_SIZE)
+        return CStatus();
+    }
+
+    CStatus run() override {
+        ImageMParam image;
+        auto status = CGRAPH_SUB_MPARAM(ImageMParam, conn_id_, image);
+        if (status.isErr()) {
+            return status;
+        }
+
+        auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY);
+        CGRAPH_ECHO("finding car in frame [%d], info is [%s]", image.frame_id_, image.image_buf_);
+        // find car in image.image_buf_ ...
+        param->car_num_ = std::abs((int)std::random_device{}()) % 5;
+        return CStatus();
+    }
+
+private:
+    int conn_id_ = 0;
+};
+
+
+class ShowGNode : public GNode {
+    CStatus run() override {
+        auto param = CGRAPH_GET_GPARAM_WITH_NO_EMPTY(DetectResultGParam, EXAMPLE_PARAM_KEY);
+        CGRAPH_ECHO("find [%d] car and [%d] lane in frame [%d] \n", param->car_num_, param->lane_num_, param->frame_id_);
+        return CStatus();
+    }
+};
+
+
+void example_auto_pilot() {
+    GElementPtr lane, car, show = nullptr;
+    auto pipeline = GPipelineFactory::create();
+
+    pipeline->registerGElement<LaneDetectorGNode>(&lane, {}, "lane");
+    pipeline->registerGElement<CarDetectorGNode>(&car, {}, "car");
+    pipeline->registerGElement<ShowGNode>(&show, {lane, car}, "show");
+
+    pipeline->createGParam<DetectResultGParam>(EXAMPLE_PARAM_KEY);
+    pipeline->addGDaemon<CameraGDaemon>(1000);    // 模拟相机，每间隔1000ms，生成一张图片
+
+    pipeline->process(10);
+    GPipelineFactory::clear();
+    CGRAPH_CLEAR_MESSAGES()
+}
+
+
+int main() {
+    example_auto_pilot();
+    return 0;
+}

src/GraphCtrl/GraphPipeline/GPipeline.cpp

@@ -98,16 +98,17 @@ CStatus GPipeline::process(CSize runTimes) {
     CGRAPH_FUNCTION_CHECK_STATUS
 
     while (runTimes-- > 0
+           && !status.isErr()
            && !repository_.isCancelState()) {
         /**
          * 1. 执行轮数（runTimes）没有结束
-         * 2. 没有进入取消状态
+         * 2. 执行结果正常
+         * 3. 没有进入取消状态
          */
-        status = run();
-        CGRAPH_FUNCTION_CHECK_STATUS
+        status += run();
     }
 
-    status = destroy();
+    status += destroy();
     CGRAPH_FUNCTION_END
 }
 

src/UtilsCtrl/ThreadPool/Queue/UAtomicRingBufferQueue.h

@@ -88,7 +88,7 @@ class UAtomicRingBufferQueue : public UQueueObject {
                 CGRAPH_RETURN_ERROR_STATUS("receive message timeout.")
             }
 
-            value = std::move((*ring_buffer_queue_[head_]));
+            value = std::move(*ring_buffer_queue_[head_]);
             head_ = (head_ + 1) % capacity_;
         }
         push_cv_.notify_one();

src/UtilsCtrl/ThreadPool/UThreadPool.cpp

@@ -238,17 +238,15 @@ CVoid UThreadPool::monitor() {
         bool busy = !primary_threads_.empty() && std::all_of(primary_threads_.begin(), primary_threads_.end(),
                                 [](UThreadPrimaryPtr ptr) { return nullptr != ptr && ptr->is_running_; });
 
+        CGRAPH_LOCK_GUARD lock(st_mutex_);
         // 如果忙碌或者priority_task_queue_中有任务，则需要添加 secondary线程
         if (busy || !priority_task_queue_.empty()) {
             createSecondaryThread(1);
         }
 
         // 判断 secondary 线程是否需要退出
-        {
-            CGRAPH_LOCK_GUARD lock(st_mutex_);
-            for (auto iter = secondary_threads_.begin(); iter != secondary_threads_.end(); ) {
-                (*iter)->freeze() ? secondary_threads_.erase(iter++) : iter++;
-            }
+        for (auto iter = secondary_threads_.begin(); iter != secondary_threads_.end(); ) {
+            (*iter)->freeze() ? secondary_threads_.erase(iter++) : iter++;
         }
     }
 }

src/UtilsCtrl/UtilsFunction.h

@@ -11,6 +11,7 @@
 
 #include <mutex>
 #include <chrono>
+#include <iomanip>
 #include <ctime>
 #include <cstdarg>
 #include <algorithm>
@@ -35,16 +36,10 @@ inline CVoid CGRAPH_ECHO(const char *cmd, ...) {
 #ifndef _WIN32
     // 非windows系统，打印到毫秒
     auto now = std::chrono::system_clock::now();
-    // 通过不同精度获取相差的毫秒数
-    uint64_t disMs = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count()
-                     - std::chrono::duration_cast<std::chrono::seconds>(now.time_since_epoch()).count() * 1000;
-    time_t tt = std::chrono::system_clock::to_time_t(now);
-    auto localTime = localtime(&tt);
-    char strTime[32] = { 0 };
-    sprintf(strTime, "[%04d-%02d-%02d %02d:%02d:%02d.%03d]", localTime->tm_year + 1900,
-            localTime->tm_mon + 1, localTime->tm_mday, localTime->tm_hour,
-            localTime->tm_min, localTime->tm_sec, (int)disMs);
-    std::cout << "[CGraph] " << strTime << " ";
+    auto time = std::chrono::system_clock::to_time_t(now);
+    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count() % 1000;
+    std::cout << "[" << std::put_time(std::localtime(&time), "%Y-%m-%d %H:%M:%S.")    \
+        << std::setfill('0') << std::setw(3) << ms << "] ";
 #else
     // windows系统，打印到秒
     time_t curTime;

tutorial/CMakeLists.txt

@@ -0,0 +1,39 @@
+
+# 对应tutorial中的内容
+set(CGRAPH_TUTORIAL_LIST
+        T00-HelloCGraph
+        T01-Simple
+        T02-Cluster
+        T03-Region
+        T04-Complex
+        T05-Param
+        T06-Condition
+        T07-MultiPipeline
+        T08-Template
+        T09-Aspect
+        T10-AspectParam
+        T11-Singleton
+        T12-Function
+        T13-Daemon
+        T14-Hold
+        T15-ElementParam
+        T16-MessageSendRecv
+        T17-MessagePubSub
+        T18-Event
+        T19-Cancel
+        T20-YieldResume
+        T21-MultiCondition
+        T22-Timeout
+        T23-Some
+        T24-Fence
+        T25-Coordinator
+        )
+
+
+foreach(tut ${CGRAPH_TUTORIAL_LIST})
+    add_executable(${tut}
+            # 在自己的工程中引入CGraph功能，仅需引入 CGraph-env-include.cmake 后，加入这一句话即可
+            $<TARGET_OBJECTS:CGraph>
+            ${tut}.cpp
+            )
+endforeach()